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matereal: Commit

Commit MetaInfo

Révision	199 (tree)
l'heure	2010-11-15 03:54:46
Auteur	arc

Message de Log

preparing for matereal distribution.

Change Summary

modified: capture/trunk/.classpath (diff)
modified: capture/trunk/LICENSE.txt (diff)
modified: capture/trunk/p5/resources/build.xml (diff)
added: capture/trunk/lib/p5/core.jar (diff)
added: capture/trunk/lib/p5
modified: capture/trunk/src.p5/processing/video/CaptureDS.java (diff)
modified: capture/trunk/build.xml (diff)
delete: napkit/trunk/matereal-full.xml
delete: napkit/trunk/LICENCE.txt
added: napkit/trunk/LICENSE.txt (diff)
added: napkit/trunk/markers/patt.zip (diff)
added: napkit/trunk/markers/README.txt (diff)
delete: napkit/trunk/src.sample.old/sample/Step2_PaintEntity.java
added: napkit/trunk/src.test/BringItHere.java (diff)
delete: napkit/trunk/lib/bluecove/bluecove-2.1.0.jar
delete: napkit/trunk/lib/bluecove/LICENSE.txt
delete: napkit/trunk/lib/bluecove
delete: napkit/trunk/lib/jar-in-jar-loader/README.txt
delete: napkit/trunk/lib/jar-in-jar-loader/jar-in-jar-loader.zip
delete: napkit/trunk/lib/jar-in-jar-loader
delete: napkit/trunk/src.sample/BringItHereReal.java
modified: napkit/trunk/src.sample/BringItHere.java (diff)
added: napkit/trunk/src.sample/DetectMarkerAndPaintEntity.java (diff)
modified: napkit/trunk/src.sample/DetectMarker.java (diff)
modified: napkit/trunk/src.sample/ClickAndRun.java (diff)
modified: napkit/trunk/build.xml (diff)
modified: connector/trunk/LICENSE.txt (diff)
modified: connector/trunk/build.xml (diff)

Modification

--- capture/trunk/LICENSE.txt (revision 198)

+++ capture/trunk/LICENSE.txt (revision 199)

		@@ -1,5 +1,5 @@
1	1	Webcam capture package - capture
2		-Copyright (C) 2009 Jun KATO
	2	+Copyright (C) 2010 Jun KATO
3	3
4	4	The contents of this file are subject to the Mozilla Public License Version
5	5	1.1 (the "License"); you may not use this file except in compliance with

		@@ -15,7 +15,7 @@
15	15
16	16	The Initial Developer of the Original Code is Jun KATO.
17	17	Portions created by the Initial Developer are
18		-Copyright (C) 2009 Jun KATO. All Rights Reserved.
	18	+Copyright (C) 2010 Jun KATO. All Rights Reserved.
19	19
20	20	Contributor(s): Jun KATO
21	21

--- capture/trunk/p5/resources/build.xml (revision 198)

+++ capture/trunk/p5/resources/build.xml (revision 199)

		@@ -12,13 +12,13 @@
12	12	<!-- #### (2) where are the jar files located that are required for compiling
13	13	your library such as e.g. core.jar ? edit location. #### -->
14	14
15		- <property name="libraryClasspath" location="../lib"/>
	15	+ <property name="libraryClasspath" location="../lib/p5"/>
16	16	<path id="library-classpath">
17	17	<fileset dir="${libraryClasspath}" >
18	18	<!-- #### (3) add the jar files that are required for compiling. edit name.
19	19	for more include files. duplicate <include name="" /> #### -->
20	20	<include name="core.jar"/>
21		- <include name="dsj/dsj.jar"/>
	21	+ <include name="../dsj/dsj.jar"/>
22	22	</fileset>
23	23	</path>
24	24

		@@ -61,8 +61,8 @@
61	61
62	62	<!-- #### (14) where can the source code be found? edit value. #### -->
63	63	<property name="source:host" value="matereal" />
64		- <property name="source:url" value="http://sourceforge.jp/projects/matereal/" />
65		- <property name="source:repository" value="http://sourceforge.jp/projects/matereal/svn/view/capture/trunk/?root=matereal" />
	64	+ <property name="source:url" value="http://mr.digitalmuseum.jp/" />
	65	+ <property name="source:repository" value="http://matereal.googlecode.com/svn/capture/trunk/" />
66	66
67	67
68	68

--- capture/trunk/src.p5/processing/video/CaptureDS.java (revision 198)

+++ capture/trunk/src.p5/processing/video/CaptureDS.java (revision 199)

		@@ -173,32 +173,37 @@
173	173	parent.die("No devices with available pins found.");
174	174	return;
175	175	}
	176	+ pin = null;
	177	+ float fps = 30.0f;
	178	+ float currentFps = Float.MAX_VALUE;
176	179	for (DSPinInfo p : pins) {
177		- final DSMediaType[] fs = p.getFormats();
178	180
179		- // 動作モード数が多いものが使えるピン(たぶん)
180		- if (formats == null \|\| formats.length < fs.length) {
181		- pin = p;
182		- formats = fs;
	181	+ // Set the first pin as default.
	182	+ if (pin == null) pin = p;
	183	+
	184	+ // Capture YUY2 and RGB none-compressed images by default.
	185	+ formats = p.getFormats();
	186	+ for (int i = 0; i < formats.length; i ++) {
	187	+ final DSMediaType format = formats[i];
	188	+ if (format.getWidth() == width &&
	189	+ format.getHeight() == height &&
	190	+ (format.getSubType() == DSMediaType.VST_YUY2 \|\|
	191	+ format.getSubType() == DSMediaType.VST_RGB24)) {
	192	+ if (Math.abs(fps - format.getFrameRate()) < Math.abs(fps - currentFps)) {
	193	+ pin = p;
	194	+ p.setPreferredFormat(i);
	195	+ currentFps = format.getFrameRate();
	196	+ }
	197	+ break;
	198	+ }
183	199	}
184		- }
185		-
186		- // ピンがサポートするモードのうち
187		- //
188		- // ・指定された解像度に合致する
189		- // ・YUVあるいはRGBで画像を取得できる
190		- //
191		- // ものを取得し、動作モードに指定
192		- for (int i = 0; i < formats.length; i ++) {
193		- final DSMediaType format = formats[i];
194		- if ((format.getSubType() == DSMediaType.VST_YUY2 \|\|
195		- format.getSubType() == DSMediaType.VST_RGB24) &&
196		- requestWidth == format.getWidth() &&
197		- requestHeight == format.getHeight()) {
198		- pin.setPreferredFormat(i);
	200	+ if (pin != null && (int) currentFps == (int) fps) {
199	201	break;
200	202	}
201	203	}
	204	+ if (pin == null) {
	205	+ parent.die("No suitable pin to capture was found for filter:"+dsFilter);
	206	+ }
202	207
203	208	// キャプチャを始める
204	209	dsCapture = new DSCapture(

--- capture/trunk/build.xml (revision 198)

+++ capture/trunk/build.xml (revision 199)

		@@ -1,4 +1,4 @@
1		-<?xml version="1.0" encoding="Shift_JIS"?>
	1	+<?xml version="1.0" encoding="UTF-8"?>
2	2
3	3	<project name="capture" default="jar" basedir=".">
4	4	<!-- time stamp -->

		@@ -8,55 +8,55 @@
8	8
9	9	<!-- **Properties** -->
10	10	<!-- Software version -->
11		- <property name="version" value="0.1" />
	11	+ <property name="capture-version" value="1.0.0" />
12	12
13	13	<!-- Dependent class pathes -->
14		- <property name="classpath" value="lib/dsj/dsj.jar;lib/jmf/jmf.jar;lib/qtj/QTJava.zip" />
	14	+ <property name="capture-classpath" value="lib/dsj/dsj.jar;lib/jmf/jmf.jar;lib/qtj/QTJava.zip" />
15	15
16	16	<!-- Source directory -->
17		- <property name="src.dir" value="src" />
	17	+ <property name="capture-src.dir" value="src" />
18	18
19	19	<!-- Classes destination directory -->
20		- <property name="classes.dir" value="bin" />
	20	+ <property name="capture-classes.dir" value="bin" />
21	21
22	22	<!-- Javadoc destination -->
23		- <property name="javadoc.dir" value="docs" />
	23	+ <property name="capture-javadoc.dir" value="docs" />
24	24
25	25	<!-- jar file name -->
26		- <property name="jar.name" value="capture-${version}.jar" />
	26	+ <property name="capture-jar.name" value="capture-${capture-version}.jar" />
27	27
28	28	<!-- **Targets** -->
29	29	<!-- jar -->
30	30	<target name="jar" depends="compile">
31		- <jar jarfile="${jar.name}">
32		- <fileset dir="${classes.dir}" includes="*/.class" />
33		- <fileset dir="${src.dir}" includes="*/.java" />
	31	+ <jar jarfile="${capture-jar.name}">
	32	+ <fileset dir="${capture-classes.dir}" includes="*/.class" />
	33	+ <fileset dir="${capture-src.dir}" includes="*/.java" />
34	34	</jar>
35	35	</target>
36	36
37	37	<!-- Compile -->
38	38	<target name="compile">
39		- <mkdir dir="${classes.dir}" />
40		- <javac srcdir="${src.dir}" destdir="${classes.dir}" classpath="${classpath}" />
	39	+ <mkdir dir="${capture-classes.dir}" />
	40	+ <javac srcdir="${capture-src.dir}" destdir="${capture-classes.dir}" classpath="${capture-classpath}" />
41	41	</target>
42	42
43	43	<!-- Javadoc -->
44	44	<target name="javadoc">
45		- <javadoc sourcepath="${src.dir}"
46		- destdir="${javadoc.dir}"
	45	+ <javadoc sourcepath="${capture-src.dir}"
	46	+ destdir="${capture-javadoc.dir}"
47	47	packagenames="jp.digitalmuseum.*"
48	48	charset="UTF-8"
49	49	encoding="UTF-8"
50	50	docencoding="UTF-8"
51	51	locale="en"
52		- classpath="${classpath}"
	52	+ classpath="${capture-classpath}"
53	53	bottom="Copyright by Jun KATO (arc@dmz) at http://matereal.sourceforge.jp/" />
54	54	</target>
55	55
56	56	<!-- Cleaning -->
57	57	<target name="clean">
58		- <delete dir="${classes.dir}" />
59		- <delete dir="${javadoc.dir}" />
60		- <delete file="${jar.name}" />
	58	+ <delete dir="${capture-classes.dir}" />
	59	+ <delete dir="${capture-javadoc.dir}" />
	60	+ <delete file="${capture-jar.name}" />
61	61	</target>
62	62	</project>
		\ No newline at end of file

--- napkit/trunk/matereal-full.xml (revision 198)

+++ napkit/trunk/matereal-full.xml (nonexistent)

		@@ -1,120 +0,0 @@
1		-<?xml version="1.0" encoding="UTF-8" standalone="no"?>
2		-<project default="create_package">
3		-
4		- <property name="matereal.zip.basedir" value="matereal-full/" />
5		- <property name="matereal.zip.name" value="matereal-0.1-full.zip" />
6		- <property name="matereal.jar.name" value="${matereal.zip.basedir}matereal-0.1-full.jar" />
7		- <property name="matereal.jar.main" value="TestCamera" />
8		-
9		- <property name="lib.dir" value="lib/" />
10		-
11		- <property name="matereal.dir" value="matereal/" />
12		- <property name="matereal.lib" value="matereal-0.1.jar" />
13		-
14		- <property name="capture.dir" value="capture/" />
15		- <property name="capture.lib" value="capture-0.1.jar" />
16		-
17		- <property name="connector.dir" value="connector/" />
18		- <property name="connector.lib" value="connector-0.1.jar" />
19		-
20		- <property name="napkit.dir" value="napkit/" />
21		- <property name="napkit.lib" value="napkit-0.2.jar" />
22		-
23		- <property name="bluecove.dir" value="bluecove/" />
24		- <property name="bluecove.version" value="2.1.0" />
25		- <property name="bluecove.lib" value="bluecove-${bluecove.version}.jar" />
26		- <property name="bluecove" value="${bluecove.dir}${bluecove.lib}" />
27		- <property name="bluecove-without-jnilibs" value="bluecove-${bluecove.version}-without-jnilibs.jar" />
28		-
29		- <property name="rxtxlib.dir" value="rxtx-2.1-7-bins-r2/" />
30		- <property name="rxtxlib.lib" value="RXTXcomm.jar" />
31		-
32		- <property name="classpath" value="${bluecove-without-jnilibs} ${rxtxlib.lib}" />
33		-
34		- <target name="build_napkit">
35		- <ant antfile="build.xml" target="jar" />
36		- <mkdir dir="${lib.dir}${napkit.dir}" />
37		- <copy file="${napkit.lib}" todir="${lib.dir}${napkit.dir}" />
38		- <copy file="LICENCE.txt" todir="${lib.dir}${napkit.dir}" />
39		- <copy file="README.txt" todir="${lib.dir}${napkit.dir}" />
40		- </target>
41		-
42		- <target name="unjar_matereals" depends="build_napkit">
43		- <mkdir dir="${lib.dir}${matereal.dir}bin" />
44		- <unjar src="${lib.dir}${matereal.dir}${matereal.lib}" dest="${lib.dir}${matereal.dir}bin" />
45		- <unjar src="${lib.dir}${capture.dir}${capture.lib}" dest="${lib.dir}${matereal.dir}bin" />
46		- <unjar src="${lib.dir}${connector.dir}${connector.lib}" dest="${lib.dir}${matereal.dir}bin" />
47		- <unjar src="${lib.dir}${napkit.dir}${napkit.lib}" dest="${lib.dir}${matereal.dir}bin" />
48		- </target>
49		-
50		- <target name="unjar_bluecove">
51		- <mkdir dir="${lib.dir}${bluecove.dir}bin" />
52		- <mkdir dir="${lib.dir}${bluecove.dir}native" />
53		- <unjar src="${lib.dir}${bluecove.dir}${bluecove.lib}" dest="${lib.dir}${bluecove.dir}bin">
54		- <patternset>
55		- <exclude name="*/.dll" />
56		- <exclude name="*/.jnilib" />
57		- </patternset>
58		- </unjar>
59		- <unjar src="${lib.dir}${bluecove.dir}${bluecove.lib}" dest="${lib.dir}${bluecove.dir}native">
60		- <patternset>
61		- <include name="*/.dll" />
62		- <include name="*/.jnilib" />
63		- </patternset>
64		- </unjar>
65		- </target>
66		-
67		- <target name="create_jar" depends="unjar_matereals, unjar_bluecove">
68		- <mkdir dir="${matereal.zip.basedir}" />
69		- <jar destfile="${lib.dir}${bluecove.dir}${bluecove-without-jnilibs}" basedir="${lib.dir}${bluecove.dir}bin" />
70		- <jar destfile="${matereal.jar.name}">
71		- <manifest>
72		- <attribute name="Main-Class" value="org.eclipse.jdt.internal.jarinjarloader.JarRsrcLoader" />
73		- <attribute name="Rsrc-Main-Class" value="${matereal.jar.main}" />
74		- <attribute name="Class-Path" value="." />
75		- <attribute name="Rsrc-Class-Path" value="./ ${classpath}" />
76		- </manifest>
77		- <zipfileset src="${lib.dir}jar-in-jar-loader/jar-in-jar-loader.zip" />
78		- <fileset dir="${lib.dir}${matereal.dir}bin" excludes="sample/" />
79		- <zipfileset dir="${lib.dir}" prefix="lib">
80		- <exclude name="jar-in-jar-loader/*.zip" />
81		-
82		- <exclude name="${matereal.dir}${matereal.lib}"/>
83		- <exclude name="${capture.dir}${capture.lib}"/>
84		- <exclude name="${connector.dir}${connector.lib}"/>
85		- <exclude name="${napkit.dir}${napkit.lib}"/>
86		-
87		- <exclude name="${rxtxlib.dir}${rxtxlib.lib}"/>
88		- <exclude name="${rxtxlib.dir}*.dll"/>
89		- <exclude name="${rxtxlib.dir}*.jnilib"/>
90		- <exclude name="${bluecove.dir}${bluecove.lib}"/>
91		- <exclude name="${bluecove.dir}${bluecove-without-jnilibs}"/>
92		-
93		- <exclude name="${matereal.dir}bin/"/>
94		- <exclude name="${bluecove.dir}bin/"/>
95		- <exclude name="${bluecove.dir}native/"/>
96		-
97		- <exclude name="dsj/"/>
98		- <exclude name="NyARToolkit-*/"/>
99		- </zipfileset>
100		-
101		- <zipfileset dir="${lib.dir}${rxtxlib.dir}" includes="${rxtxlib.lib} .dll .jnilib" />
102		- <zipfileset dir="${lib.dir}${bluecove.dir}native" />
103		- <zipfileset dir="${lib.dir}${bluecove.dir}" includes="${bluecove-without-jnilibs}" />
104		-
105		- </jar>
106		- </target>
107		-
108		- <target name="create_package" depends="create_jar">
109		- <zip destfile="${matereal.zip.name}" basedir="${matereal.zip.basedir}" />
110		- </target>
111		-
112		- <target name="clean">
113		- <delete dir="${napkit.dir}" />
114		- <delete dir="${matereal.dir}bin" />
115		- <delete dir="${bluecove.dir}bin" />
116		- <delete dir="${bluecove.dir}native" />
117		- <delete file="${matereal.zip.basedir}${matereal.jar.name}" />
118		- <delete file="${matereal.zip.name}" />
119		- </target>
120		-</project>
		\ No newline at end of file

Deleted: svn:mime-type

## -1 +0,0 ##

-text/plain

\ No newline at end of property

--- napkit/trunk/LICENCE.txt (revision 198)

+++ napkit/trunk/LICENCE.txt (nonexistent)

		@@ -1,17 +0,0 @@
1		-NyARToolkit Application Toolkit - napkit
2		-Copyright (C) 2009 Jun KATO
3		-
4		-This program is free software; you can redistribute it and/or modify it under the terms of the GNU General Public License as published by the Free Software Foundation; either version 3 of the License, or (at your option) any later version.
5		-
6		-This program is distributed in the hope that it will be useful, but WITHOUT ANY WARRANTY; without even the implied warranty of MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the GNU General Public License for more details.
7		-
8		-You should have received a copy of the GNU General Public License along with this program. If not, see <http://www.gnu.org/licenses/>.
9		-
10		-NyARToolkit Application Toolkit - napkit
11		-Copyright (C) 2009 Jun KATO
12		-
13		-このプログラムはフリーソフトウェアです。あなたはこれを、フリーソフトウェア財団によって発行されたGNU 一般公衆利用許諾書(バージョン3か、それ以降のバージョンのうちどれか)が定める条件の下で再頒布または改変することができます。
14		-
15		-このプログラムは有用であることを願って頒布されますが、全くの無保証です。商業可能性の保証や特定目的への適合性は、言外に示されたものも含め、全く存在しません。詳しくはGNU 一般公衆利用許諾書をご覧ください。
16		-
17		-あなたはこのプログラムと共に、GNU 一般公衆利用許諾書のコピーを一部受け取っているはずです。もし受け取っていなければ、<http://www.gnu.org/licenses/> をご覧ください。
		\ No newline at end of file

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-text/plain

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--- napkit/trunk/LICENSE.txt (nonexistent)

+++ napkit/trunk/LICENSE.txt (revision 199)

		@@ -0,0 +1,17 @@
	1	+NyARToolkit Application Toolkit - napkit
	2	+Copyright (C) 2009-2010 Jun KATO
	3	+
	4	+This program is free software; you can redistribute it and/or modify it under the terms of the GNU General Public License as published by the Free Software Foundation; either version 3 of the License, or (at your option) any later version.
	5	+
	6	+This program is distributed in the hope that it will be useful, but WITHOUT ANY WARRANTY; without even the implied warranty of MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the GNU General Public License for more details.
	7	+
	8	+You should have received a copy of the GNU General Public License along with this program. If not, see <http://www.gnu.org/licenses/>.
	9	+
	10	+NyARToolkit Application Toolkit - napkit
	11	+Copyright (C) 2009-2010 Jun KATO
	12	+
	13	+このプログラムはフリーソフトウェアです。あなたはこれを、フリーソフトウェア財団によって発行されたGNU 一般公衆利用許諾書(バージョン3か、それ以降のバージョンのうちどれか)が定める条件の下で再頒布または改変することができます。
	14	+
	15	+このプログラムは有用であることを願って頒布されますが、全くの無保証です。商業可能性の保証や特定目的への適合性は、言外に示されたものも含め、全く存在しません。詳しくはGNU 一般公衆利用許諾書をご覧ください。
	16	+
	17	+あなたはこのプログラムと共に、GNU 一般公衆利用許諾書のコピーを一部受け取っているはずです。もし受け取っていなければ、<http://www.gnu.org/licenses/> をご覧ください。
		\ No newline at end of file

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--- napkit/trunk/markers/README.txt (nonexistent)

+++ napkit/trunk/markers/README.txt (revision 199)

		@@ -0,0 +1,2 @@
	1	+These marker patterns are generated with ARToolkit Patternmaker:
	2	+http://www.cs.utah.edu/gdc/projects/augmentedreality/
		\ No newline at end of file

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--- napkit/trunk/src.sample.old/sample/Step2_PaintEntity.java (revision 198)

+++ napkit/trunk/src.sample.old/sample/Step2_PaintEntity.java (nonexistent)

		@@ -1,118 +0,0 @@
1		-package sample;
2		-
3		-import java.awt.Color;
4		-
5		-import java.awt.Graphics;
6		-import java.awt.Graphics2D;
7		-import java.awt.Shape;
8		-import java.awt.geom.Rectangle2D;
9		-import java.util.Set;
10		-import javax.swing.JFrame;
11		-
12		-import jp.digitalmuseum.mr.Matereal;
13		-import jp.digitalmuseum.mr.entity.Entity;
14		-import jp.digitalmuseum.mr.entity.EntityImpl;
15		-import jp.digitalmuseum.mr.gui.DisposeOnCloseFrame;
16		-import jp.digitalmuseum.mr.gui.ImageProviderPanel;
17		-import jp.digitalmuseum.mr.gui.utils.EntityPainter;
18		-import jp.digitalmuseum.mr.service.MarkerDetector;
19		-import jp.digitalmuseum.mr.service.Camera;
20		-import jp.digitalmuseum.napkit.NapDetectionResult;
21		-import jp.digitalmuseum.napkit.NapMarker;
22		-import jp.digitalmuseum.napkit.gui.TypicalMDCPane;
23		-import jp.digitalmuseum.utils.ScreenPosition;
24		-import jp.digitalmuseum.utils.ScreenRectangle;
25		-
26		-/**
27		- * Run a marker detection and show results.
28		- *
29		- * @author Jun KATO
30		- */
31		-public class Step2_PaintEntity {
32		-
33		- public static void main(String[] args) {
34		- new Step2_PaintEntity();
35		- }
36		-
37		- public Step2_PaintEntity() {
38		-
39		- // Run a camera.
40		- final Camera camera = new Camera();
41		- camera.start();
42		-
43		- // Run a marker detector.
44		- final MarkerDetector detector = new MarkerDetector();
45		- detector.loadCameraParameter("calib_qcam.dat");
46		- detector.start();
47		-
48		- // Show a configuration window.
49		- final JFrame configFrame = new DisposeOnCloseFrame(new TypicalMDCPane(detector));
50		-
51		- // Detect a marker.
52		- final NapMarker marker = new NapMarker("markers\\4x4_78.patt",45);
53		- final Entity dummy = new EntityImpl("test") {
54		- public void dispose() {}
55		- public Shape getShape() { return new Rectangle2D.Double(-10, -10, 20, 20); }
56		- };
57		- detector.put(marker, dummy);
58		-
59		- // Initialize a painter
60		- final EntityPainter painter = new EntityPainter();
61		-
62		- // Show detection results in real-time.
63		- final DisposeOnCloseFrame frame = new DisposeOnCloseFrame(
64		- new ImageProviderPanel(camera) {
65		- private static final long serialVersionUID = 1L;
66		- @Override public void paintComponent(Graphics g) {
67		- super.paintComponent(g);
68		-
69		- // Get detected results.
70		- final Set<NapDetectionResult> results = detector.getResults();
71		-
72		- // Draw detected number of squares.
73		- drawString(g, "detected: "+(results == null ? 0 : results.size()),
74		- 10, getHeight()-10);
75		-
76		- // Draw each detected result.
77		- for (final NapDetectionResult result : results) {
78		-
79		- // Draw corners
80		- final ScreenRectangle corners = result.getSquare();
81		- corners.draw((Graphics2D) g, true);
82		-
83		- // Draw information for the square.
84		- final ScreenPosition point = result.getPosition();
85		- g.drawLine(point.getX(), point.getY(), point.getX()+55, point.getY()+43);
86		- g.drawRect(point.getX()+55, point.getY()+23, 200, 40);
87		- drawString(g, "Confidence: "+result.getConfidence(), point.getX()+64, point.getY()+40);
88		- drawString(g, "Position: "+point, point.getX()+64, point.getY()+56);
89		- }
90		-
91		- // Paint a entity
92		- painter.paint(g, dummy);
93		- }
94		-
95		- /**
96		- * Draw a string with 1px simple black border.
97		- */
98		- private void drawString(Graphics g, String s, int x, int y) {
99		- g.setColor(Color.black);
100		- g.drawString(s, x+1, y);
101		- g.drawString(s, x-1, y);
102		- g.drawString(s, x, y-1);
103		- g.drawString(s, x, y+1);
104		- g.setColor(Color.orange);
105		- g.drawString(s, x, y);
106		- }
107		- }) {
108		- private static final long serialVersionUID = 1L;
109		- @Override public void dispose() {
110		- configFrame.dispose();
111		- super.dispose();
112		- Matereal.getInstance().dispose();
113		- }
114		- };
115		- frame.setFrameSize(camera.getWidth(), camera.getHeight());
116		- frame.setResizable(false);
117		- }
118		-}

--- napkit/trunk/src.test/BringItHere.java (nonexistent)

+++ napkit/trunk/src.test/BringItHere.java (revision 199)

		@@ -0,0 +1,286 @@
	1	+import java.awt.BasicStroke;
	2	+
	3	+import java.awt.AlphaComposite;
	4	+import java.awt.Color;
	5	+import java.awt.Composite;
	6	+import java.awt.Graphics;
	7	+import java.awt.Graphics2D;
	8	+import java.awt.Stroke;
	9	+import java.awt.event.MouseAdapter;
	10	+import java.awt.event.MouseEvent;
	11	+import java.util.Set;
	12	+import javax.swing.JFrame;
	13	+import javax.swing.JOptionPane;
	14	+
	15	+import jp.digitalmuseum.capture.VideoCaptureFactoryImpl;
	16	+import jp.digitalmuseum.mr.Matereal;
	17	+import jp.digitalmuseum.mr.entity.Entity;
	18	+import jp.digitalmuseum.mr.entity.Mini;
	19	+import jp.digitalmuseum.mr.entity.PhysicalBox;
	20	+import jp.digitalmuseum.mr.entity.PhysicalCylinder;
	21	+import jp.digitalmuseum.mr.entity.Robot;
	22	+import jp.digitalmuseum.mr.gui.DisposeOnCloseFrame;
	23	+import jp.digitalmuseum.mr.gui.ImageProviderPanel;
	24	+import jp.digitalmuseum.mr.gui.utils.EntityPainter;
	25	+import jp.digitalmuseum.mr.gui.utils.VectorFieldPainter;
	26	+import jp.digitalmuseum.mr.hakoniwa.Hakoniwa;
	27	+import jp.digitalmuseum.mr.hakoniwa.HakoniwaBox;
	28	+import jp.digitalmuseum.mr.hakoniwa.HakoniwaRobot;
	29	+import jp.digitalmuseum.mr.resource.WheelsController;
	30	+import jp.digitalmuseum.mr.service.CoordProvider;
	31	+import jp.digitalmuseum.mr.service.LocationProvider;
	32	+import jp.digitalmuseum.mr.service.MarkerDetector;
	33	+import jp.digitalmuseum.mr.service.Camera;
	34	+import jp.digitalmuseum.mr.task.Push;
	35	+import jp.digitalmuseum.mr.task.Task;
	36	+import jp.digitalmuseum.mr.task.VectorFieldTask;
	37	+import jp.digitalmuseum.napkit.NapDetectionResult;
	38	+import jp.digitalmuseum.napkit.NapMarker;
	39	+import jp.digitalmuseum.napkit.gui.TypicalMDCPane;
	40	+import jp.digitalmuseum.utils.Location;
	41	+import jp.digitalmuseum.utils.Position;
	42	+import jp.digitalmuseum.utils.ScreenPosition;
	43	+
	44	+/**
	45	+ * Run a marker detection and show results.
	46	+ *
	47	+ * @author Jun KATO
	48	+ */
	49	+public class BringItHere {
	50	+ private final static boolean REAL = false;
	51	+ private Robot robot;
	52	+ private Entity[] entities;
	53	+ private CoordProvider coordProvider;
	54	+ private LocationProvider locationProvider;
	55	+ private VectorFieldTask push;
	56	+ private ScreenPosition goal = null;
	57	+
	58	+ public static void main(String[] args) {
	59	+ new BringItHere();
	60	+ }
	61	+
	62	+ public BringItHere() {
	63	+
	64	+ final JFrame configFrame;
	65	+ final MarkerDetector detector;
	66	+ if (REAL) {
	67	+
	68	+ // Run a camera.
	69	+ // Let users select a device to capture images.
	70	+ final String identifier = (String) JOptionPane.showInputDialog(
	71	+ null, "Select a device to capture images.", "Device list",
	72	+ JOptionPane.QUESTION_MESSAGE, null,
	73	+ new VideoCaptureFactoryImpl().queryIdentifiers(), null);
	74	+ final Camera camera;
	75	+ if ((identifier != null) && (identifier.length() > 0)) {
	76	+ camera = new Camera(identifier);
	77	+ } else {
	78	+ camera = new Camera();
	79	+ }
	80	+ camera.setSize(800, 600);
	81	+ camera.setRealSize(80, 60);
	82	+ camera.start();
	83	+ coordProvider = camera;
	84	+
	85	+ // Run a marker detector.
	86	+ detector = new MarkerDetector();
	87	+ detector.loadCameraParameter("calib_qcam.dat");
	88	+ detector.start();
	89	+ locationProvider = detector;
	90	+
	91	+ // Show a configuration window.
	92	+ configFrame = new DisposeOnCloseFrame(new TypicalMDCPane(detector));
	93	+
	94	+ // Instantiate a robot.
	95	+ robot = new Mini("Mini", "btspp://000666015818");
	96	+
	97	+ // Instantiate boxes.
	98	+ entities = new Entity[2];
	99	+ entities[0] = new PhysicalCylinder("My cup", 3);
	100	+ entities[1] = new PhysicalBox("My box", 10, 8);
	101	+ detector.put(new NapMarker("markers\\4x4_35.patt", 5.5),
	102	+ entities[0]);
	103	+ detector.put(new NapMarker("markers\\4x4_78.patt", 5.5),
	104	+ entities[1]);
	105	+ detector.put(new NapMarker("markers\\4x4_907.patt", 5.5), robot);
	106	+ }
	107	+
	108	+ else {
	109	+
	110	+ // Run a hakoniwa.
	111	+ Hakoniwa hakoniwa = new Hakoniwa();
	112	+ hakoniwa.start();
	113	+ coordProvider = hakoniwa;
	114	+ locationProvider = hakoniwa;
	115	+
	116	+ robot = new HakoniwaRobot("Hakoniwa robot", new Location(hakoniwa
	117	+ .getRealWidth() / 2, hakoniwa.getRealHeight() / 2,
	118	+ -Math.PI * 3 / 4));
	119	+ entities = new Entity[5];
	120	+ double x = hakoniwa.getRealWidth() / 2;
	121	+ double y = hakoniwa.getRealHeight() / 2;
	122	+ double r = 200;
	123	+ for (int i = 0; i < entities.length; i++) {
	124	+ double theta = Math.PI * i / (entities.length - 1);
	125	+ entities[i] = new HakoniwaBox("Box " + i, x + Math.cos(theta)
	126	+ * r, y - Math.sin(theta) * r, 20 * (i + 1),
	127	+ 15 * (i + 1), theta);
	128	+ }
	129	+ }
	130	+
	131	+ // Show detection results in real-time.
	132	+ final ImageProviderPanel panel = new ImageProviderPanel(coordProvider) {
	133	+ private static final long serialVersionUID = 1L;
	134	+ private transient final VectorFieldPainter vectorFieldPainter = new VectorFieldPainter(
	135	+ REAL ? 0.5 : 20);
	136	+ private transient final EntityPainter entityPainter = new EntityPainter(
	137	+ 0.5);
	138	+ private transient final Stroke stroke = new BasicStroke(5);
	139	+ private transient final AlphaComposite alphaComp = AlphaComposite
	140	+ .getInstance(AlphaComposite.SRC_OVER, .3f);
	141	+ private transient final AlphaComposite alphaComp2 = AlphaComposite
	142	+ .getInstance(AlphaComposite.SRC_OVER, .7f);
	143	+
	144	+ @Override
	145	+ public void paintComponent(Graphics g) {
	146	+ super.paintComponent(g);
	147	+ final Graphics2D g2 = (Graphics2D) g;
	148	+ g2.translate(getOffsetX(), getOffsetY());
	149	+
	150	+ final Composite comp = g2.getComposite();
	151	+
	152	+ // Draw vectors.
	153	+ g2.setComposite(alphaComp);
	154	+ g.setColor(Color.blue);
	155	+ vectorFieldPainter.paint(push, g2);
	156	+ g2.setComposite(comp);
	157	+
	158	+ // Draw entities.
	159	+ g.setColor(Color.green);
	160	+ for (Entity e : entities) {
	161	+ entityPainter.paint(g2, e);
	162	+ }
	163	+ entityPainter.paint(g2, robot);
	164	+
	165	+ int detected;
	166	+ if (REAL) {
	167	+ // Get detected results.
	168	+ final Set<NapDetectionResult> results = detector
	169	+ .getResults();
	170	+ detected = results.size();
	171	+
	172	+ // Draw each detected result.
	173	+ for (final NapDetectionResult result : results) {
	174	+
	175	+ // Draw corners
	176	+ g.setColor(Color.orange);
	177	+ detector.paint(g2, result);
	178	+
	179	+ // Draw information for the square.
	180	+ g.setColor(Color.cyan);
	181	+ final ScreenPosition point = result.getPosition();
	182	+ g2.drawLine(point.getX(), point.getY(),
	183	+ point.getX() + 55, point.getY() + 43);
	184	+ g2.drawRect(point.getX() + 55, point.getY() + 23, 200,
	185	+ 40);
	186	+ g2.drawString("Confidence: " + result.getConfidence(),
	187	+ point.getX() + 64, point.getY() + 40);
	188	+ g2.drawString("Position: " + point, point.getX() + 64,
	189	+ point.getY() + 56);
	190	+ }
	191	+ }
	192	+
	193	+ // Draw status.
	194	+ g2.setComposite(alphaComp2);
	195	+ g2.setColor(Color.black);
	196	+ g2.fillRect(0, 0, coordProvider.getWidth(), 35);
	197	+ g2.setComposite(comp);
	198	+ g.drawLine(0, 35, coordProvider.getWidth(), 35);
	199	+ g.setColor(Color.white);
	200	+ if (goal == null) {
	201	+ g.drawString("Click to set the destination.", 10, 30);
	202	+ } else {
	203	+ if (push != null && !push.isFinished()) {
	204	+ g.drawString("Status: " + push, 10, 30);
	205	+ } else {
	206	+ g.drawString("Status: Stopped", 10, 30);
	207	+ }
	208	+ Stroke s = g2.getStroke();
	209	+ g2.setStroke(stroke);
	210	+ g.setColor(Color.black);
	211	+ g.drawLine(goal.getX() - 5, goal.getY() - 5,
	212	+ goal.getX() + 5, goal.getY() + 5);
	213	+ g.drawLine(goal.getX() - 5, goal.getY() + 5,
	214	+ goal.getX() + 5, goal.getY() - 5);
	215	+ g2.setStroke(s);
	216	+ }
	217	+
	218	+ if (REAL) {
	219	+ // Draw detected number of squares.
	220	+ g.setColor(Color.cyan);
	221	+ g2.drawString("detected: " + detected,
	222	+ 10, getHeight() - 10);
	223	+ }
	224	+ }
	225	+ };
	226	+
	227	+ // Bring the clicked object to the location in front of the user.
	228	+ panel.addMouseListener(new MouseAdapter() {
	229	+ @Override
	230	+ public void mouseReleased(MouseEvent e) {
	231	+
	232	+ // Stop the previously assigned task.
	233	+ final Task task = robot.getAssignedTask(WheelsController.class);
	234	+ if (task != null)
	235	+ task.stop();
	236	+
	237	+ // Set the goal position.
	238	+ final int x = e.getX(), y = e.getY();
	239	+ if (goal == null) {
	240	+ goal = new ScreenPosition(x, y);
	241	+ return;
	242	+ }
	243	+
	244	+ // Push the clicked object to the goal.
	245	+ final Entity entity = getClickedEntity(x, y);
	246	+ if (entity != null && entity != robot) {
	247	+ push = new Push(entity, coordProvider.screenToReal(goal));
	248	+ if (push.assign(robot))
	249	+ push.start();
	250	+ }
	251	+ }
	252	+
	253	+ });
	254	+
	255	+ final DisposeOnCloseFrame frame = new DisposeOnCloseFrame(panel) {
	256	+ private static final long serialVersionUID = 1L;
	257	+
	258	+ @Override
	259	+ public void dispose() {
	260	+ if (REAL) {
	261	+ configFrame.dispose();
	262	+ }
	263	+ super.dispose();
	264	+ Matereal.getInstance().dispose();
	265	+ }
	266	+ };
	267	+ frame.setFrameSize(coordProvider.getWidth(), coordProvider.getHeight());
	268	+ }
	269	+
	270	+ /**
	271	+ * Get clicked entity.
	272	+ *
	273	+ * @param x
	274	+ * @param y
	275	+ * @return Clicked entity
	276	+ */
	277	+ private Entity getClickedEntity(int x, int y) {
	278	+ Position p = coordProvider.screenToReal(new ScreenPosition(x, y));
	279	+ for (Entity e : Matereal.getInstance().getEntities()) {
	280	+ if (locationProvider.contains(e, p)) {
	281	+ return e;
	282	+ }
	283	+ }
	284	+ return null;
	285	+ }
	286	+}

Added: svn:mime-type

## -0,0 +1 ##

+text/plain

\ No newline at end of property

--- napkit/trunk/lib/bluecove/LICENSE.txt (revision 198)

+++ napkit/trunk/lib/bluecove/LICENSE.txt (nonexistent)

		@@ -1,3 +0,0 @@
1		-BlueCove is licensed under Apache License, Version 2.0 (http://www.apache.org/licenses/LICENSE-2.0). The license allows linking and distributing commercial software with BlueCove.
2		-
3		-Please see http://bluecove.org/ for the licensing detail.
		\ No newline at end of file

Deleted: svn:mime-type

## -1 +0,0 ##

-text/plain

\ No newline at end of property

--- napkit/trunk/lib/jar-in-jar-loader/README.txt (revision 198)

+++ napkit/trunk/lib/jar-in-jar-loader/README.txt (nonexistent)

		@@ -1,36 +0,0 @@
1		-jar-in-jar-loader.zip was generated automatically by Fat Jar Eclipse Plug-In
2		-and includes One-JAR codes.
3		-To get more information about Fat Jar, see http://fjep.sourceforge.net/ .
4		-
5		-/*
6		- * One-JAR™ (http://www.simontuffs.com/one-jar). Copyright (c) 2004-2007,
7		- * P. Simon Tuffs (simon@simontuffs.com). All rights reserved.
8		- *
9		- * Redistribution and use in source and binary forms, with or without
10		- * modification, are permitted provided that the following conditions are met:
11		- *
12		- * Redistributions of source code must retain the above copyright notice, this
13		- * list of conditions and the following disclaimer.
14		- *
15		- * Redistributions in binary form must reproduce the above copyright notice,
16		- * this list of conditions and the following disclaimer in the documentation
17		- * and/or other materials provided with the distribution.
18		- *
19		- * Neither the name of P. Simon Tuffs, nor the names of any contributors,
20		- * nor the name One-JAR may be used to endorse or promote products derived
21		- * from this software without specific prior written permission.
22		- *
23		- * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS"
24		- * AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE
25		- * IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE
26		- * ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT OWNER OR CONTRIBUTORS BE
27		- * LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR
28		- * CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF
29		- * SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS
30		- * INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN
31		- * CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE)
32		- * ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
33		- * POSSIBILITY OF SUCH DAMAGE.
34		- *
35		- * Including this file inside the built One-JAR file conforms with these terms.
36		- */
		\ No newline at end of file

Deleted: svn:mime-type

## -1 +0,0 ##

-text/plain

\ No newline at end of property

--- napkit/trunk/src.sample/BringItHereReal.java (revision 198)

+++ napkit/trunk/src.sample/BringItHereReal.java (nonexistent)

		@@ -1,232 +0,0 @@
1		-import java.awt.BasicStroke;
2		-
3		-import java.awt.AlphaComposite;
4		-import java.awt.Color;
5		-import java.awt.Composite;
6		-import java.awt.Graphics;
7		-import java.awt.Graphics2D;
8		-import java.awt.Stroke;
9		-import java.awt.event.MouseAdapter;
10		-import java.awt.event.MouseEvent;
11		-import java.util.Set;
12		-import javax.swing.JFrame;
13		-import javax.swing.JOptionPane;
14		-
15		-import jp.digitalmuseum.capture.VideoCaptureFactoryImpl;
16		-import jp.digitalmuseum.mr.Matereal;
17		-import jp.digitalmuseum.mr.entity.Entity;
18		-import jp.digitalmuseum.mr.entity.Mini;
19		-import jp.digitalmuseum.mr.entity.PhysicalBox;
20		-import jp.digitalmuseum.mr.entity.PhysicalCylinder;
21		-import jp.digitalmuseum.mr.gui.DisposeOnCloseFrame;
22		-import jp.digitalmuseum.mr.gui.ImageProviderPanel;
23		-import jp.digitalmuseum.mr.gui.utils.EntityPainter;
24		-import jp.digitalmuseum.mr.gui.utils.VectorFieldPainter;
25		-import jp.digitalmuseum.mr.resource.WheelsController;
26		-import jp.digitalmuseum.mr.service.MarkerDetector;
27		-import jp.digitalmuseum.mr.service.Camera;
28		-import jp.digitalmuseum.mr.task.Push;
29		-import jp.digitalmuseum.mr.task.Task;
30		-import jp.digitalmuseum.mr.task.VectorFieldTask;
31		-import jp.digitalmuseum.napkit.NapDetectionResult;
32		-import jp.digitalmuseum.napkit.NapMarker;
33		-import jp.digitalmuseum.napkit.gui.TypicalMDCPane;
34		-import jp.digitalmuseum.utils.Position;
35		-import jp.digitalmuseum.utils.ScreenPosition;
36		-
37		-/**
38		- * Run a marker detection and show results.
39		- *
40		- * @author Jun KATO
41		- */
42		-public class BringItHereReal {
43		- private Camera camera;
44		- private MarkerDetector detector;
45		- private VectorFieldTask push;
46		- private ScreenPosition goal = null;
47		-
48		- public static void main(String[] args) {
49		- new BringItHereReal();
50		- }
51		-
52		- public BringItHereReal() {
53		-
54		- // Run a camera.
55		- // Let users select a device to capture images.
56		- final String identifier = (String) JOptionPane.showInputDialog(null,
57		- "Select a device to capture images.", "Device list",
58		- JOptionPane.QUESTION_MESSAGE, null,
59		- new VideoCaptureFactoryImpl().queryIdentifiers(), null);
60		- if ((identifier != null) && (identifier.length() > 0)) {
61		- camera = new Camera(identifier);
62		- } else {
63		- camera = new Camera();
64		- }
65		- camera.setSize(800, 600);
66		- camera.setRealSize(80, 60);
67		- camera.start();
68		-
69		- // Run a marker detector.
70		- detector = new MarkerDetector();
71		- detector.loadCameraParameter("calib_qcam.dat");
72		- detector.start();
73		-
74		- // Show a configuration window.
75		- final JFrame configFrame = new DisposeOnCloseFrame(new TypicalMDCPane(
76		- detector));
77		-
78		- // Instantiate a robot.
79		- final Mini robot = new Mini("Mini", "btspp://000666015818");
80		-
81		- // Instantiate boxes.
82		- final Entity[] entities = new Entity[1];
83		- entities[0] = new PhysicalBox("Milk chocolate", 10, 8);
84		- detector.put(new NapMarker("markers\\4x4_35.patt", 5.5), entities[0]);
85		- detector.put(new NapMarker("markers\\4x4_907.patt", 5.5), robot);
86		-
87		- // Show detection results in real-time.
88		- final ImageProviderPanel panel = new ImageProviderPanel(camera) {
89		- private static final long serialVersionUID = 1L;
90		- private transient final VectorFieldPainter vectorFieldPainter = new VectorFieldPainter(
91		- 5);
92		- private transient final EntityPainter entityPainter = new EntityPainter(
93		- 0.5);
94		- private transient final Stroke stroke = new BasicStroke(5);
95		- private transient final AlphaComposite alphaComp = AlphaComposite
96		- .getInstance(AlphaComposite.SRC_OVER, .3f);
97		- private transient final AlphaComposite alphaComp2 = AlphaComposite
98		- .getInstance(AlphaComposite.SRC_OVER, .7f);
99		-
100		- @Override
101		- public void paintComponent(Graphics g) {
102		- super.paintComponent(g);
103		- final Graphics2D g2 = (Graphics2D) g;
104		- g2.translate(getOffsetX(), getOffsetY());
105		-
106		- final Composite comp = g2.getComposite();
107		-
108		- // Draw vectors.
109		- g2.setComposite(alphaComp);
110		- g.setColor(Color.blue);
111		- vectorFieldPainter.paint(push, g2);
112		- g2.setComposite(alphaComp2);
113		- g2.setColor(Color.black);
114		- g2.fillRect(0, 0, getWidth(), 35);
115		-
116		- // Draw entities.
117		- g.setColor(Color.green);
118		- for (Entity e : entities) {
119		- entityPainter.paint(g2, e);
120		- }
121		- entityPainter.paint(g2, robot);
122		-
123		- // Get detected results.
124		- final Set<NapDetectionResult> results = detector.getResults();
125		-
126		- // Draw each detected result.
127		- for (final NapDetectionResult result : results) {
128		-
129		- // Draw corners
130		- g.setColor(Color.orange);
131		- detector.paint(g2, result);
132		-
133		- // Draw information for the square.
134		- g.setColor(Color.cyan);
135		- final ScreenPosition point = result.getPosition();
136		- g2.drawLine(point.getX(), point.getY(), point.getX() + 55,
137		- point.getY() + 43);
138		- g2.drawRect(point.getX() + 55, point.getY() + 23, 200, 40);
139		- g2.drawString("Confidence: " + result.getConfidence(),
140		- point.getX() + 64, point.getY() + 40);
141		- g2.drawString("Position: " + point, point.getX() + 64,
142		- point.getY() + 56);
143		- }
144		-
145		- // Draw status.
146		- g2.setComposite(comp);
147		- g.drawLine(0, 35, getWidth(), 35);
148		- g.setColor(Color.white);
149		- if (goal == null) {
150		- g.drawString("Click to set the destination.", 10, 30);
151		- } else {
152		- if (push != null) {
153		- g.drawString("Status: " + push, 10, 30);
154		- } else {
155		- g.drawString("Status: Stopped", 10, 30);
156		- }
157		- Stroke s = g2.getStroke();
158		- g2.setStroke(stroke);
159		- g.setColor(Color.black);
160		- g.drawLine(goal.getX() - 5, goal.getY() - 5,
161		- goal.getX() + 5, goal.getY() + 5);
162		- g.drawLine(goal.getX() - 5, goal.getY() + 5,
163		- goal.getX() + 5, goal.getY() - 5);
164		- g2.setStroke(s);
165		- }
166		-
167		- // Draw detected number of squares.
168		- g.setColor(Color.cyan);
169		- g2.drawString("detected: "
170		- + (results == null ? 0 : results.size()), 10,
171		- getHeight() - 10);
172		- }
173		- };
174		-
175		- // Bring the clicked object to the location in front of the user.
176		- panel.addMouseListener(new MouseAdapter() {
177		- @Override
178		- public void mouseReleased(MouseEvent e) {
179		-
180		- // Stop the previously assigned task.
181		- final Task task = robot.getAssignedTask(WheelsController.class);
182		- if (task != null)
183		- task.stop();
184		-
185		- // Set the goal position.
186		- final int x = e.getX(), y = e.getY();
187		- if (goal == null) {
188		- goal = new ScreenPosition(x, y);
189		- return;
190		- }
191		-
192		- // Push the clicked object to the goal.
193		- final Entity entity = getClickedEntity(x, y);
194		- if (entity != null && entity != robot) {
195		- push = new Push(entity, camera.screenToReal(goal));
196		- if (push.assign(robot))
197		- push.start();
198		- }
199		- }
200		-
201		- });
202		-
203		- final DisposeOnCloseFrame frame = new DisposeOnCloseFrame(panel) {
204		- private static final long serialVersionUID = 1L;
205		-
206		- @Override
207		- public void dispose() {
208		- configFrame.dispose();
209		- super.dispose();
210		- Matereal.getInstance().dispose();
211		- }
212		- };
213		- frame.setFrameSize(camera.getWidth(), camera.getHeight());
214		- }
215		-
216		- /**
217		- * Get clicked entity.
218		- *
219		- * @param x
220		- * @param y
221		- * @return Clicked entity
222		- */
223		- private Entity getClickedEntity(int x, int y) {
224		- Position p = camera.screenToReal(new ScreenPosition(x, y));
225		- for (Entity e : Matereal.getInstance().getEntities()) {
226		- if (detector.contains(e, p)) {
227		- return e;
228		- }
229		- }
230		- return null;
231		- }
232		-}

Deleted: svn:mime-type

## -1 +0,0 ##

-text/plain

\ No newline at end of property

--- napkit/trunk/src.sample/BringItHere.java (revision 198)

+++ napkit/trunk/src.sample/BringItHere.java (revision 199)

		@@ -17,18 +17,11 @@
17	17	import jp.digitalmuseum.mr.entity.Entity;
18	18	import jp.digitalmuseum.mr.entity.Mini;
19	19	import jp.digitalmuseum.mr.entity.PhysicalBox;
20		-import jp.digitalmuseum.mr.entity.PhysicalCylinder;
21		-import jp.digitalmuseum.mr.entity.Robot;
22	20	import jp.digitalmuseum.mr.gui.DisposeOnCloseFrame;
23	21	import jp.digitalmuseum.mr.gui.ImageProviderPanel;
24	22	import jp.digitalmuseum.mr.gui.utils.EntityPainter;
25	23	import jp.digitalmuseum.mr.gui.utils.VectorFieldPainter;
26		-import jp.digitalmuseum.mr.hakoniwa.Hakoniwa;
27		-import jp.digitalmuseum.mr.hakoniwa.HakoniwaBox;
28		-import jp.digitalmuseum.mr.hakoniwa.HakoniwaRobot;
29	24	import jp.digitalmuseum.mr.resource.WheelsController;
30		-import jp.digitalmuseum.mr.service.CoordProvider;
31		-import jp.digitalmuseum.mr.service.LocationProvider;
32	25	import jp.digitalmuseum.mr.service.MarkerDetector;
33	26	import jp.digitalmuseum.mr.service.Camera;
34	27	import jp.digitalmuseum.mr.task.Push;

		@@ -37,21 +30,18 @@
37	30	import jp.digitalmuseum.napkit.NapDetectionResult;
38	31	import jp.digitalmuseum.napkit.NapMarker;
39	32	import jp.digitalmuseum.napkit.gui.TypicalMDCPane;
40		-import jp.digitalmuseum.utils.Location;
41	33	import jp.digitalmuseum.utils.Position;
42	34	import jp.digitalmuseum.utils.ScreenPosition;
43	35
44	36	/**
45		- * Run a marker detection and show results.
	37	+ * Bring it here!
	38	+ * Test of assigning a task to a robot.
46	39	*
47	40	* @author Jun KATO
48	41	*/
49	42	public class BringItHere {
50		- private final static boolean REAL = false;
51		- private Robot robot;
52		- private Entity[] entities;
53		- private CoordProvider coordProvider;
54		- private LocationProvider locationProvider;
	43	+ private Camera camera;
	44	+ private MarkerDetector detector;
55	45	private VectorFieldTask push;
56	46	private ScreenPosition goal = null;
57	47

		@@ -61,81 +51,48 @@
61	51
62	52	public BringItHere() {
63	53
64		- final JFrame configFrame;
65		- final MarkerDetector detector;
66		- if (REAL) {
	54	+ // Run a camera.
	55	+ // Let users select a device to capture images.
	56	+ final String identifier = (String) JOptionPane.showInputDialog(null,
	57	+ "Select a device to capture images.", "Device list",
	58	+ JOptionPane.QUESTION_MESSAGE, null,
	59	+ new VideoCaptureFactoryImpl().queryIdentifiers(), null);
	60	+ if ((identifier != null) && (identifier.length() > 0)) {
	61	+ camera = new Camera(identifier);
	62	+ } else {
	63	+ camera = new Camera();
	64	+ }
	65	+ camera.setSize(800, 600);
	66	+ camera.setRealSize(80, 60);
	67	+ camera.start();
67	68
68		- // Run a camera.
69		- // Let users select a device to capture images.
70		- final String identifier = (String) JOptionPane.showInputDialog(
71		- null, "Select a device to capture images.", "Device list",
72		- JOptionPane.QUESTION_MESSAGE, null,
73		- new VideoCaptureFactoryImpl().queryIdentifiers(), null);
74		- final Camera camera;
75		- if ((identifier != null) && (identifier.length() > 0)) {
76		- camera = new Camera(identifier);
77		- } else {
78		- camera = new Camera();
79		- }
80		- camera.setSize(800, 600);
81		- camera.setRealSize(80, 60);
82		- camera.start();
83		- coordProvider = camera;
	69	+ // Run a marker detector.
	70	+ detector = new MarkerDetector();
	71	+ detector.loadCameraParameter("calib_qcam.dat");
	72	+ detector.start();
84	73
85		- // Run a marker detector.
86		- detector = new MarkerDetector();
87		- detector.loadCameraParameter("calib_qcam.dat");
88		- detector.start();
89		- locationProvider = detector;
	74	+ // Show a configuration window.
	75	+ final JFrame configFrame = new DisposeOnCloseFrame(new TypicalMDCPane(
	76	+ detector));
90	77
91		- // Show a configuration window.
92		- configFrame = new DisposeOnCloseFrame(new TypicalMDCPane(detector));
	78	+ // Initialize a robot.
	79	+ final Mini robot = new Mini("Mini", "btspp://000666015818");
93	80
94		- // Instantiate a robot.
95		- robot = new Mini("Mini", "btspp://000666015818");
	81	+ // Initialize boxes.
	82	+ final Entity[] entities = new Entity[1];
	83	+ entities[0] = new PhysicalBox("Milk chocolate", 10, 8);
	84	+ detector.put(new NapMarker("markers\\4x4_35.patt", 5.5), entities[0]);
	85	+ detector.put(new NapMarker("markers\\4x4_907.patt", 5.5), robot);
96	86
97		- // Instantiate boxes.
98		- entities = new Entity[2];
99		- entities[0] = new PhysicalCylinder("My cup", 3);
100		- entities[1] = new PhysicalBox("My box", 10, 8);
101		- detector.put(new NapMarker("markers\\4x4_35.patt", 5.5),
102		- entities[0]);
103		- detector.put(new NapMarker("markers\\4x4_78.patt", 5.5),
104		- entities[1]);
105		- detector.put(new NapMarker("markers\\4x4_907.patt", 5.5), robot);
106		- }
107		-
108		- else {
109		-
110		- // Run a hakoniwa.
111		- Hakoniwa hakoniwa = new Hakoniwa();
112		- hakoniwa.start();
113		- coordProvider = hakoniwa;
114		- locationProvider = hakoniwa;
115		-
116		- robot = new HakoniwaRobot("Hakoniwa robot", new Location(hakoniwa
117		- .getRealWidth() / 2, hakoniwa.getRealHeight() / 2,
118		- -Math.PI * 3 / 4));
119		- entities = new Entity[5];
120		- double x = hakoniwa.getRealWidth() / 2;
121		- double y = hakoniwa.getRealHeight() / 2;
122		- double r = 200;
123		- for (int i = 0; i < entities.length; i++) {
124		- double theta = Math.PI * i / (entities.length - 1);
125		- entities[i] = new HakoniwaBox("Box " + i, x + Math.cos(theta)
126		- * r, y - Math.sin(theta) * r, 20 * (i + 1),
127		- 15 * (i + 1), theta);
128		- }
129		- }
130		-
131	87	// Show detection results in real-time.
132		- final ImageProviderPanel panel = new ImageProviderPanel(coordProvider) {
	88	+ final ImageProviderPanel panel = new ImageProviderPanel(camera) {
133	89	private static final long serialVersionUID = 1L;
134		- private transient final VectorFieldPainter vectorFieldPainter = new VectorFieldPainter(
135		- REAL ? 0.5 : 20);
136		- private transient final EntityPainter entityPainter = new EntityPainter(
137		- 0.5);
138		- private transient final Stroke stroke = new BasicStroke(5);
	90	+ private transient final VectorFieldPainter vectorFieldPainter =
	91	+ new VectorFieldPainter(5);
	92	+ private transient final EntityPainter entityPainter =
	93	+ new EntityPainter(0.5);
	94	+ private transient final Stroke stroke =
	95	+ new BasicStroke(5);
139	96	private transient final AlphaComposite alphaComp = AlphaComposite
140	97	.getInstance(AlphaComposite.SRC_OVER, .3f);
141	98	private transient final AlphaComposite alphaComp2 = AlphaComposite

		@@ -146,7 +103,6 @@
146	103	super.paintComponent(g);
147	104	final Graphics2D g2 = (Graphics2D) g;
148	105	g2.translate(getOffsetX(), getOffsetY());
149		-
150	106	final Composite comp = g2.getComposite();
151	107
152	108	// Draw vectors.

		@@ -153,74 +109,67 @@
153	109	g2.setComposite(alphaComp);
154	110	g.setColor(Color.blue);
155	111	vectorFieldPainter.paint(push, g2);
156		- g2.setComposite(comp);
	112	+ g2.setComposite(alphaComp2);
	113	+ g2.setColor(Color.black);
	114	+ g2.fillRect(0, 0, getWidth(), 35);
157	115
158	116	// Draw entities.
159		- g.setColor(Color.green);
	117	+ g2.setColor(Color.green);
160	118	for (Entity e : entities) {
161	119	entityPainter.paint(g2, e);
162	120	}
163	121	entityPainter.paint(g2, robot);
164	122
165		- int detected;
166		- if (REAL) {
167		- // Get detected results.
168		- final Set<NapDetectionResult> results = detector
169		- .getResults();
170		- detected = results.size();
	123	+ // Get detected results.
	124	+ final Set<NapDetectionResult> results = detector.getResults();
171	125
172		- // Draw each detected result.
173		- for (final NapDetectionResult result : results) {
	126	+ // Draw each detected result.
	127	+ for (final NapDetectionResult result : results) {
174	128
175		- // Draw corners
176		- g.setColor(Color.orange);
177		- detector.paint(g2, result);
	129	+ // Draw corners
	130	+ g2.setColor(Color.orange);
	131	+ detector.paint(g2, result);
178	132
179		- // Draw information for the square.
180		- g.setColor(Color.cyan);
181		- final ScreenPosition point = result.getPosition();
182		- g2.drawLine(point.getX(), point.getY(),
183		- point.getX() + 55, point.getY() + 43);
184		- g2.drawRect(point.getX() + 55, point.getY() + 23, 200,
185		- 40);
186		- g2.drawString("Confidence: " + result.getConfidence(),
187		- point.getX() + 64, point.getY() + 40);
188		- g2.drawString("Position: " + point, point.getX() + 64,
189		- point.getY() + 56);
190		- }
	133	+ // Draw information for the square.
	134	+ g.setColor(Color.cyan);
	135	+ final ScreenPosition point = result.getPosition();
	136	+ g2.drawLine(point.getX(), point.getY(), point.getX() + 55,
	137	+ point.getY() + 43);
	138	+ g2.drawRect(point.getX() + 55, point.getY() + 23, 200, 40);
	139	+ g2.drawString("Confidence: " + result.getConfidence(),
	140	+ point.getX() + 64, point.getY() + 40);
	141	+ g2.drawString("Position: " + point, point.getX() + 64,
	142	+ point.getY() + 56);
191	143	}
192	144
193	145	// Draw status.
194		- g2.setComposite(alphaComp2);
195		- g2.setColor(Color.black);
196		- g2.fillRect(0, 0, coordProvider.getWidth(), 35);
197	146	g2.setComposite(comp);
198		- g.drawLine(0, 35, coordProvider.getWidth(), 35);
199		- g.setColor(Color.white);
	147	+ g2.drawLine(0, 35, getWidth(), 35);
	148	+ g2.setColor(Color.white);
200	149	if (goal == null) {
201		- g.drawString("Click to set the destination.", 10, 30);
	150	+ g2.drawString("Click to set the destination.", 10, 30);
202	151	} else {
203		- if (push != null && !push.isFinished()) {
204		- g.drawString("Status: " + push, 10, 30);
	152	+ if (push != null) {
	153	+ g2.drawString("Status: " + push, 10, 30);
205	154	} else {
206		- g.drawString("Status: Stopped", 10, 30);
	155	+ g2.drawString("Status: Stopped", 10, 30);
207	156	}
208	157	Stroke s = g2.getStroke();
209	158	g2.setStroke(stroke);
210		- g.setColor(Color.black);
211		- g.drawLine(goal.getX() - 5, goal.getY() - 5,
	159	+ g2.setColor(Color.black);
	160	+ g2.drawLine(goal.getX() - 5, goal.getY() - 5,
212	161	goal.getX() + 5, goal.getY() + 5);
213		- g.drawLine(goal.getX() - 5, goal.getY() + 5,
	162	+ g2.drawLine(goal.getX() - 5, goal.getY() + 5,
214	163	goal.getX() + 5, goal.getY() - 5);
215	164	g2.setStroke(s);
216	165	}
217	166
218		- if (REAL) {
219		- // Draw detected number of squares.
220		- g.setColor(Color.cyan);
221		- g2.drawString("detected: " + detected,
222		- 10, getHeight() - 10);
223		- }
	167	+ // Draw detected number of squares.
	168	+ g2.setColor(Color.cyan);
	169	+ g2.drawString("detected: "
	170	+ + (results == null ? 0 : results.size()), 10,
	171	+ getHeight() - 10);
	172	+ g2.dispose();
224	173	}
225	174	};
226	175

		@@ -244,7 +193,7 @@
244	193	// Push the clicked object to the goal.
245	194	final Entity entity = getClickedEntity(x, y);
246	195	if (entity != null && entity != robot) {
247		- push = new Push(entity, coordProvider.screenToReal(goal));
	196	+ push = new Push(entity, camera.screenToReal(goal));
248	197	if (push.assign(robot))
249	198	push.start();
250	199	}

		@@ -257,14 +206,12 @@
257	206
258	207	@Override
259	208	public void dispose() {
260		- if (REAL) {
261		- configFrame.dispose();
262		- }
	209	+ configFrame.dispose();
263	210	super.dispose();
264	211	Matereal.getInstance().dispose();
265	212	}
266	213	};
267		- frame.setFrameSize(coordProvider.getWidth(), coordProvider.getHeight());
	214	+ frame.setFrameSize(camera.getWidth(), camera.getHeight());
268	215	}
269	216
270	217	/**

		@@ -275,9 +222,9 @@
275	222	* @return Clicked entity
276	223	*/
277	224	private Entity getClickedEntity(int x, int y) {
278		- Position p = coordProvider.screenToReal(new ScreenPosition(x, y));
	225	+ Position p = camera.screenToReal(new ScreenPosition(x, y));
279	226	for (Entity e : Matereal.getInstance().getEntities()) {
280		- if (locationProvider.contains(e, p)) {
	227	+ if (detector.contains(e, p)) {
281	228	return e;
282	229	}
283	230	}

--- napkit/trunk/src.sample/DetectMarkerAndPaintEntity.java (nonexistent)

+++ napkit/trunk/src.sample/DetectMarkerAndPaintEntity.java (revision 199)

		@@ -0,0 +1,136 @@
	1	+import java.awt.BasicStroke;
	2	+import java.awt.Color;
	3	+import java.awt.Graphics;
	4	+import java.awt.Graphics2D;
	5	+import java.awt.Shape;
	6	+import java.awt.Stroke;
	7	+import java.awt.geom.Rectangle2D;
	8	+import java.util.Set;
	9	+import javax.swing.JFrame;
	10	+import javax.swing.JOptionPane;
	11	+
	12	+import jp.digitalmuseum.capture.VideoCaptureFactoryImpl;
	13	+import jp.digitalmuseum.mr.Matereal;
	14	+import jp.digitalmuseum.mr.entity.Entity;
	15	+import jp.digitalmuseum.mr.entity.EntityImpl;
	16	+import jp.digitalmuseum.mr.gui.DisposeOnCloseFrame;
	17	+import jp.digitalmuseum.mr.gui.ImageProviderPanel;
	18	+import jp.digitalmuseum.mr.gui.utils.EntityPainter;
	19	+import jp.digitalmuseum.mr.service.MarkerDetector;
	20	+import jp.digitalmuseum.mr.service.Camera;
	21	+import jp.digitalmuseum.napkit.NapDetectionResult;
	22	+import jp.digitalmuseum.napkit.NapMarker;
	23	+import jp.digitalmuseum.napkit.gui.TypicalMDCPane;
	24	+import jp.digitalmuseum.utils.ScreenPosition;
	25	+
	26	+/**
	27	+ * Run marker detection and show its results.
	28	+ *
	29	+ * @author Jun KATO
	30	+ */
	31	+public class DetectMarkerAndPaintEntity {
	32	+
	33	+ public static void main(String[] args) {
	34	+ new DetectMarkerAndPaintEntity();
	35	+ }
	36	+
	37	+ public DetectMarkerAndPaintEntity() {
	38	+
	39	+ // Run a camera.
	40	+ // Let users select a device to capture images.
	41	+ final String identifier = (String) JOptionPane.showInputDialog(null,
	42	+ "Select a device to capture images.", "Device list",
	43	+ JOptionPane.QUESTION_MESSAGE, null, new VideoCaptureFactoryImpl()
	44	+ .queryIdentifiers(), null);
	45	+ Camera camera;
	46	+ if ((identifier != null) && (identifier.length() > 0)) {
	47	+ camera = new Camera(identifier);
	48	+ } else {
	49	+ camera = new Camera();
	50	+ }
	51	+ camera.setSize(800, 600);
	52	+ camera.start();
	53	+
	54	+ // Run a marker detector.
	55	+ final MarkerDetector detector = new MarkerDetector();
	56	+ detector.loadCameraParameter("calib_qcam.dat");
	57	+ detector.start();
	58	+
	59	+ // Show a configuration window.
	60	+ final JFrame configFrame = new DisposeOnCloseFrame(new TypicalMDCPane(detector));
	61	+
	62	+ // Detect a marker.
	63	+ final NapMarker marker = new NapMarker("markers\\4x4_150.patt", 45);
	64	+ final Entity dummy = new EntityImpl("test") {
	65	+ public Shape getShape() { return new Rectangle2D.Double(-10, -10, 20, 20); }
	66	+ };
	67	+ detector.put(marker, dummy);
	68	+
	69	+ // Initialize a painter
	70	+ final EntityPainter painter = new EntityPainter();
	71	+
	72	+ // Show detection results in real-time.
	73	+ final DisposeOnCloseFrame frame = new DisposeOnCloseFrame(
	74	+ new ImageProviderPanel(camera) {
	75	+ private static final long serialVersionUID = 1L;
	76	+ private transient Stroke stroke;
	77	+ @Override public void paintComponent(Graphics g) {
	78	+ super.paintComponent(g);
	79	+ final Graphics2D g2 = (Graphics2D) g;
	80	+ if (stroke == null) {
	81	+ stroke = new BasicStroke(5);
	82	+ }
	83	+ g2.setStroke(stroke);
	84	+ g2.translate(getOffsetX(), getOffsetY());
	85	+
	86	+ // Get detected results.
	87	+ final Set<NapDetectionResult> results = detector.getResults();
	88	+
	89	+ // Draw each detected result.
	90	+ for (final NapDetectionResult result : results) {
	91	+
	92	+ // Draw corners
	93	+ g2.setColor(Color.orange);
	94	+ detector.paint(g2, result);
	95	+
	96	+ // Draw information for the square.
	97	+ g2.setColor(Color.cyan);
	98	+ final ScreenPosition point = result.getPosition();
	99	+ g2.drawLine(point.getX(), point.getY(), point.getX()+55, point.getY()+43);
	100	+ g2.drawRect(point.getX()+55, point.getY()+23, 200, 40);
	101	+ drawString(g2, "Confidence: "+result.getConfidence(), point.getX()+64, point.getY()+40);
	102	+ drawString(g2, "Position: "+point, point.getX()+64, point.getY()+56);
	103	+ }
	104	+
	105	+ // Paint a entity
	106	+ painter.paint(g2, dummy);
	107	+
	108	+ // Draw detected number of squares.
	109	+ drawString(g2, "detected: "+(results == null ? 0 : results.size()),
	110	+ 10, getHeight()-10);
	111	+ g2.dispose();
	112	+ }
	113	+
	114	+ /**
	115	+ * Draw a string with 1px simple black border.
	116	+ */
	117	+ private void drawString(Graphics g, String s, int x, int y) {
	118	+ g.setColor(Color.black);
	119	+ g.drawString(s, x+1, y);
	120	+ g.drawString(s, x-1, y);
	121	+ g.drawString(s, x, y-1);
	122	+ g.drawString(s, x, y+1);
	123	+ g.setColor(Color.cyan);
	124	+ g.drawString(s, x, y);
	125	+ }
	126	+ }) {
	127	+ private static final long serialVersionUID = 1L;
	128	+ @Override public void dispose() {
	129	+ configFrame.dispose();
	130	+ super.dispose();
	131	+ Matereal.getInstance().dispose();
	132	+ }
	133	+ };
	134	+ frame.setFrameSize(camera.getWidth(), camera.getHeight());
	135	+ }
	136	+}

--- napkit/trunk/src.sample/DetectMarker.java (revision 198)

+++ napkit/trunk/src.sample/DetectMarker.java (revision 199)

		@@ -1,7 +1,4 @@
1		-
2		-
3	1	import java.awt.BasicStroke;
4		-
5	2	import java.awt.Color;
6	3	import java.awt.Graphics;
7	4	import java.awt.Graphics2D;

		@@ -20,11 +17,11 @@
20	17	import jp.digitalmuseum.mr.service.Camera;
21	18	import jp.digitalmuseum.napkit.NapDetectionResult;
22	19	import jp.digitalmuseum.napkit.NapMarker;
23		-import jp.digitalmuseum.napkit.gui.TypicalMDCPane;
	20	+import jp.digitalmuseum.napkit.gui.MarkerDetectorPanel;
24	21	import jp.digitalmuseum.utils.ScreenPosition;
25	22
26	23	/**
27		- * Run a marker detection and show results.
	24	+ * Run marker detection and show its results.
28	25	*
29	26	* @author Jun KATO
30	27	*/

		@@ -57,11 +54,11 @@
57	54	detector.start();
58	55
59	56	// Show a configuration window.
60		- final JFrame configFrame = new DisposeOnCloseFrame(new TypicalMDCPane(detector));
	57	+ final JFrame configFrame = new DisposeOnCloseFrame(new MarkerDetectorPanel(detector));
61	58
62	59	// Detect a marker.
63		- final NapMarker marker = new NapMarker("markers\\4x4_35.patt",120);
64		- final Entity dummy = new EntityImpl("test");
	60	+ final NapMarker marker = new NapMarker("markers\\4x4_150.patt", 120);
	61	+ final Entity dummy = new EntityImpl("dummy");
65	62	detector.put(marker, dummy);
66	63
67	64	// Show detection results in real-time.

		@@ -85,11 +82,11 @@
85	82	for (final NapDetectionResult result : results) {
86	83
87	84	// Draw corners
88		- g.setColor(Color.orange);
	85	+ g2.setColor(Color.orange);
89	86	detector.paint(g2, result);
90	87
91	88	// Draw information for the square.
92		- g.setColor(Color.cyan);
	89	+ g2.setColor(Color.cyan);
93	90	final ScreenPosition point = result.getPosition();
94	91	g2.drawLine(point.getX(), point.getY(), point.getX()+55, point.getY()+43);
95	92	g2.drawRect(point.getX()+55, point.getY()+23, 200, 40);

		@@ -100,6 +97,7 @@
100	97	// Draw detected number of squares.
101	98	drawString(g2, "detected: "+(results == null ? 0 : results.size()),
102	99	10, getHeight()-10);
	100	+ g2.dispose();
103	101	}
104	102
105	103	/**

--- napkit/trunk/src.sample/ClickAndRun.java (revision 198)

+++ napkit/trunk/src.sample/ClickAndRun.java (revision 199)

		@@ -115,7 +115,7 @@
115	115	if (task != null) {
116	116	task.stop();
117	117	}
118		- move = new Move(camera.screenToReal(goal));
	118	+ move = new Move(destination);
119	119	if (move.assign(robot)) {
120	120	move.start();
121	121	}

--- napkit/trunk/build.xml (revision 198)

+++ napkit/trunk/build.xml (revision 199)

		@@ -8,17 +8,17 @@
8	8
9	9	<!-- **Properties** -->
10	10	<!-- Software version -->
11		- <property name="version" value="0.2" />
12		- <property name="version-matereal" value="0.1" />
13		- <property name="version-capture" value="0.1" />
14		- <property name="version-connector" value="0.1" />
	11	+ <property name="version" value="1.0.0" />
	12	+ <property name="version-matereal" value="1.0.0" />
	13	+ <property name="version-capture" value="1.0.0" />
	14	+ <property name="version-connector" value="1.0.0" />
15	15
16	16	<!-- Dependent class pathes -->
17		- <property name="matereal" value="lib/matereal/matereal-${version-matereal}.jar"/>
18		- <property name="matereal-utils" value="lib/matereal/matereal-utils-${version-matereal}.jar"/>
19		- <property name="capture" value="lib/capture/capture-${version-capture}.jar" />
20		- <property name="connector" value="lib/connector/connector-${version-connector}.jar"/>
21		- <property name="classpath" value="bin;${matereal};${capture};${connector}" />
	17	+ <property name="matereal" value="../matereal/dist/lib/matereal-${version-matereal}.jar"/>
	18	+ <property name="matereal-utils" value="../matereal/dist/lib/matereal-utils-${version-matereal}.jar"/>
	19	+ <property name="capture" value="../lib/capture/capture-${version-capture}.jar" />
	20	+ <property name="connector" value="../lib/connector/connector-${version-connector}.jar"/>
	21	+ <property name="classpath" value="${matereal};${capture};${connector}" />
22	22
23	23	<!-- Source directory -->
24	24	<property name="src.dir" value="src" />

		@@ -48,8 +48,7 @@
48	48	<!-- Compile -->
49	49	<target name="compile">
50	50	<mkdir dir="${classes.dir}" />
51		- <javac srcdir="${nyar.dir}" destdir="${classes.dir}" encoding="UTF-8" />
52		- <javac srcdir="${src.dir}" destdir="${classes.dir}" classpath="${classpath}" encoding="UTF-8" />
	51	+ <javac srcdir="${nyar.dir};${src.dir}" destdir="${classes.dir}" classpath="${classpath}" encoding="UTF-8" />
53	52	</target>
54	53
55	54	<!-- Extract -->

--- connector/trunk/LICENSE.txt (revision 198)

+++ connector/trunk/LICENSE.txt (revision 199)

		@@ -1,5 +1,5 @@
1	1	connector
2		-Copyright (C) 2009 Jun KATO
	2	+Copyright (C) 2010 Jun KATO
3	3
4	4	The contents of this file are subject to the Mozilla Public License Version
5	5	1.1 (the "License"); you may not use this file except in compliance with

		@@ -15,7 +15,7 @@
15	15
16	16	The Initial Developer of the Original Code is Jun KATO.
17	17	Portions created by the Initial Developer are
18		-Copyright (C) 2009 Jun KATO. All Rights Reserved.
	18	+Copyright (C) 2010 Jun KATO. All Rights Reserved.
19	19
20	20	Contributor(s): Jun KATO
21	21

--- connector/trunk/build.xml (revision 198)

+++ connector/trunk/build.xml (revision 199)

		@@ -8,59 +8,59 @@
8	8
9	9	<!-- **Properties** -->
10	10	<!-- Software version -->
11		- <property name="version" value="0.1" />
	11	+ <property name="connector-version" value="1.0.0" />
12	12
13	13	<!-- Dependent class pathes -->
14		- <property name="bluecove" value="lib/bluecove/bluecove-2.1.0.jar" />
15		- <property name="rxtxlib" value="lib/rxtx-2.1-7-bins-r2/RXTXcomm.jar" />
16		- <property name="classpath" value="${bluecove};${rxtxlib}" />
	14	+ <property name="connector-bluecove" value="lib/connector/connector-2.1.0.jar" />
	15	+ <property name="connector-rxtxlib" value="lib/rxtx-2.1-7-bins-r2/RXTXcomm.jar" />
	16	+ <property name="connector-classpath" value="${connector-bluecove};${connector-rxtxlib}" />
17	17
18	18	<!-- Source directory -->
19		- <property name="src.dir" value="src" />
	19	+ <property name="connector-src.dir" value="src" />
20	20
21	21	<!-- Classes destination directory -->
22		- <property name="classes.dir" value="bin" />
	22	+ <property name="connector-classes.dir" value="bin" />
23	23
24	24	<!-- Javadoc destination -->
25		- <property name="javadoc.dir" value="docs" />
	25	+ <property name="connector-javadoc.dir" value="docs" />
26	26
27	27	<!-- jar file name -->
28		- <property name="jar.name" value="connector-${version}.jar" />
	28	+ <property name="connector-jar.name" value="connector-${connector-version}.jar" />
29	29
30	30	<!-- **Targets** -->
31	31	<!-- jar -->
32	32	<target name="jar" depends="compile">
33		- <jar jarfile="${jar.name}">
34		- <fileset dir="${classes.dir}" includes="*/.class" />
35		- <fileset dir="${src.dir}" includes="*/.java */.properties" />
	33	+ <jar jarfile="${connector-jar.name}">
	34	+ <fileset dir="${connector-classes.dir}" includes="*/.class" />
	35	+ <fileset dir="${connector-src.dir}" includes="*/.java */.properties" />
36	36	</jar>
37	37	</target>
38	38
39	39	<!-- Compile -->
40	40	<target name="compile">
41		- <mkdir dir="${classes.dir}" />
42		- <javac srcdir="${src.dir}" destdir="${classes.dir}"
43		- classpath="${classpath}"
	41	+ <mkdir dir="${connector-classes.dir}" />
	42	+ <javac srcdir="${connector-src.dir}" destdir="${connector-classes.dir}"
	43	+ classpath="${connector-classpath}"
44	44	encoding="UTF-8" />
45	45	</target>
46	46
47	47	<!-- Javadoc -->
48	48	<target name="javadoc">
49		- <javadoc sourcepath="${src.dir}"
50		- destdir="${javadoc.dir}"
	49	+ <javadoc sourcepath="${connector-src.dir}"
	50	+ destdir="${connector-javadoc.dir}"
51	51	packagenames="jp.digitalmuseum.*"
52	52	charset="UTF-8"
53	53	encoding="UTF-8"
54	54	docencoding="UTF-8"
55	55	locale="en"
56		- classpath="${classpath}"
	56	+ classpath="${connector-classpath}"
57	57	bottom="Copyright by Jun KATO (arc@dmz) at http://matereal.sourceforge.jp/" />
58	58	</target>
59	59
60	60	<!-- Cleaning -->
61	61	<target name="clean">
62		- <delete dir="${classes.dir}" />
63		- <delete dir="${javadoc.dir}" />
64		- <delete file="${jar.name}" />
	62	+ <delete dir="${connector-classes.dir}" />
	63	+ <delete dir="${connector-javadoc.dir}" />
	64	+ <delete file="${connector-jar.name}" />
65	65	</target>
66	66	</project>
		\ No newline at end of file

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